WO2022052995A1

WO2022052995A1 - Robot charging allocation method and apparatus, device, system, and storage medium

Info

Publication number: WO2022052995A1
Application number: PCT/CN2021/117507
Authority: WO
Inventors: 喻润方
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-09-11
Filing date: 2021-09-09
Publication date: 2022-03-17
Also published as: CN112101602A

Abstract

A robot charging allocation method and apparatus, a device, a system, and a storage medium. Said method comprises: acquiring state information of a robot to be charged and state information of a plurality of charging stations, wherein the state information of said robot comprises charge level information and/or position information of said robot, and the state information of the charging stations comprises any one of being idle, being reserved, and being occupied (201); allocating a charging station to said robot according to the state information of said robot and the state information of the plurality of charging stations (202); and instructing said robot to go to the allocated charging station for charge (203). The robot charging allocation method and apparatus, the device, the system, and the storage medium can reduce the time it takes a robot for charge, increasing the overall operation efficiency of a robot.

Description

Robot charging distribution method, device, equipment, system and storage medium

This disclosure claims the priority of the Chinese patent application with the application number 202010953008.5 and the application title "Robot Charging Distribution Method, Apparatus, Equipment, System and Storage Medium" filed with the China Patent Office on September 11, 2020, the entire contents of which are approved by References are incorporated in this disclosure.

technical field

The present disclosure relates to the field of intelligent storage, and in particular, to a method, device, equipment, system and storage medium for charging and distributing robots.

Background technique

With the continuous development of intelligent warehousing technology, the society's demand for warehousing is also increasing. Robots can more efficiently carry and select goods in the warehouse, thereby effectively reducing warehousing costs.

In order to realize the normal operation of the robot, it is necessary to configure the charging pile to provide the charging function for the robot. At present, there is a one-to-one binding relationship between robots and charging piles in the warehouse, that is, each robot is configured with one charging pile. When the robot needs to be charged, it can directly go back to the pre-bound charging pile to charge.

However, in the case of a large number of robots, it is necessary to configure multiple charging piles, and the positions of different charging piles are different. When the robot goes back to charge, it can only go back to the charging pile that it is bound to, which may have to travel a long way, resulting in a longer time to go back to charge and a lower overall operation efficiency.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure provide a method, apparatus, device, system, and storage medium for charging and distributing a robot, which are used to solve the technical problem of low efficiency in decharging the robot.

In a first aspect, an embodiment of the present disclosure provides a method for charging and distributing a robot, including:

Obtain status information of the robot to be charged and status information of multiple charging positions; wherein, the status information of the robot to be charged includes power information and/or position information of the robot, and the status information of the charging position includes idle , either reserved or occupied;

assigning a charging position to the robot according to the state information of the robot to be charged and the state information of the plurality of charging positions;

The robot is instructed to go to the assigned charging slot for charging.

In a possible design, the method further includes:

Acquire a charging request sent by the robot when its own power information is lower than a first power threshold, and determine that the robot sending the charging request is the robot to be charged; and/or,

Obtain power information of all robots in the warehouse, and determine the robot to be charged according to the power information of all robots and a preset charging timing strategy.

In a possible design, according to the state information of the robot to be charged and the state information of the plurality of charging positions, assigning a charging position to the robot includes:

If there is an idle charging position in the plurality of charging positions, assigning the charging position closest to the robot to the robot;

If there is no free charging position among the plurality of charging positions, among the robots that have reserved or occupied the charging position, search for a robot that meets the preset conditions, and replace the robot with the robot to be charged.

In a possible design, according to the status information of the robot to be charged and the status information of the plurality of charging positions, allocating a charging position to the robot includes:

For each charging position, calculating the estimated cost of allocating the charging position to the robot according to the status information of the robot to be charged and the status information of the charging position;

The charging position allocated to the robot is determined according to the estimated cost corresponding to each charging position.

In a possible design, calculating the estimated cost of allocating the charging position to the robot according to the status information of the robot to be charged and the status information of the charging position, including:

According to the state information of the robot to be charged and the state information of the charging position, calculate the distance cost, occupation cost and charging replacement cost of allocating the charging position to the robot;

An estimated cost of allocating the charging slot to the robot is determined based on the weighted sum of the distance cost, occupancy cost, and charging replacement cost.

In a possible design, according to the state information of the robot to be charged and the state information of the charging position, the distance cost, occupancy cost and charging replacement cost of allocating the charging position to the robot are calculated, including :

Calculate the distance cost according to the distance between the charging position and the robot; wherein, the distance between the charging position and the robot is positively correlated with the distance cost;

Calculate the occupancy cost according to whether the charging position is in an occupied state; wherein, the corresponding occupancy cost when the charging position is occupied is greater than the corresponding occupancy cost when the charging position is reserved or idle;

According to the power information of the robot to be charged and the power information of the robot reserved or occupying the charging position, the charging replacement cost is calculated; wherein the relationship between the robot reserved or occupying the charging position and the robot to be charged is calculated. The difference between the power information and the charging replacement cost is negatively correlated.

In a possible design, according to the estimated cost corresponding to each charging position, determine the charging position allocated to the robot, including:

Among the charging positions that meet the allocation conditions, select the charging position with the lowest estimated cost to allocate to the robot;

The allocation conditions include: the charging position is in an idle state; or, the charging position is reserved or occupied, and the power information of the robot that reserves or occupies the charging position is the same as that of the to-be-charged robot. The difference between the power information of the robots is greater than the second power threshold, and the power information of the robot that reserves or occupies the charging position is higher than the third power threshold.

In a possible design, the method further includes:

If the charging position allocated to the robot to be charged is a reserved or occupied charging position, search for a free rest area closest to the robot to be replaced, and assign the found rest area to the Replaced robot.

In a possible design, the method further includes:

If there is no charging position that meets the allocation conditions, the robot will be allocated an idle rest area that is closest to the robot to be charged.

In a possible design, when there are multiple robots to be charged, according to the status information of the robots to be charged and the status information of the multiple charging positions, a charging position is allocated to the robot, including :

establishing a list of charging positions and a list of idle rest areas; wherein, the list of charging positions includes the plurality of charging positions, and the list of idle rest areas includes at least one idle rest area;

Sort all the robots to be charged according to the power information from low to high to get the robot priority list;

According to the charging position list, the idle rest area list, the status information of the robot in the robot priority list, and the status information of the plurality of charging positions, a charging position is allocated to the robot in the robot priority list or rest area.

In a possible design, according to the charging position list, the idle rest area list, the status information of the robot in the robot priority list, and the status information of the plurality of charging positions, priority is given to the robot Robots in a level list are assigned charging slots or rest areas, including:

Repeat the following steps until the robot priority list is empty or the robot cannot be assigned to a charging bay or rest area:

Selecting the robot with the first ranking from the robot priority list, and assigning a charging position to the robot according to the status information of the robot and the status information of each charging position in the charging position list;

If the robot is allocated to a charging position, delete the robot from the robot priority list, and delete the charging position allocated to the robot from the charging position list;

If the robot is not assigned to a charging position, select the idle rest area closest to the robot from the idle rest area list and assign it to the robot, delete the robot from the robot priority list, and place the The rest area assigned to the robot is deleted from the list of free rest areas.

In a possible design, the method further includes:

If there is no charging bay or rest area that can be assigned to the robot, assign the robot a temporary stop;

Wherein, the temporary stop point is any position in the warehouse except the charging area, the rest area and the warehouse entry and exit points.

In a possible design, the method further includes:

When an urgent job task is obtained, find the currently idle robot;

If there is no idle robot, the charging robot is scheduled to execute the emergency work task.

In a second aspect, embodiments of the present disclosure provide a robot charging distribution device, including:

an acquisition module, configured to acquire the status information of the robot to be charged and the status information of a plurality of charging positions; wherein, the status information of the robot to be charged includes power information and/or position information of the robot, and the charging position The status information includes any one of idle, reserved and occupied;

an allocation module, configured to allocate a charging position to the robot according to the state information of the robot to be charged and the state information of the plurality of charging positions;

The instructing module is used to instruct the robot to go to the assigned charging position for charging.

In a third aspect, an embodiment of the present disclosure provides a control device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor;

Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the control device to perform the method according to any one of the first aspects.

In a fourth aspect, an embodiment of the present disclosure provides a storage system, including the control device and the robot described in the third aspect;

The robot is used for moving to the assigned charging position for charging according to the instruction of the control device.

In a fifth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, any one of the first aspect is implemented the method described.

In a sixth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which implements the method according to any one of the first aspects when the computer program is executed.

In the method, device, device, system, and storage medium for charging a robot provided by the embodiments of the present disclosure, the state information of the robot to be charged and the state information of a plurality of charging positions are obtained by acquiring the state information of the robot to be charged, wherein the state information of the robot to be charged includes: The power information and/or position information of the robot, the status information of the charging position includes any one of idle, reserved and occupied, according to the status information of the robot to be charged and the plurality of charging positions According to the status information of multiple charging positions, the robot is assigned a charging position, and the robot is instructed to charge the allocated charging position, which can allocate the appropriate charging position for the robot currently to be charged according to the status of multiple charging positions, thereby reducing the number of robots. The time to recharge can improve the overall operation efficiency of the robot, which is conducive to saving costs and improving the scheduling efficiency of the robot, and setting the reserved state can also further improve the accuracy of allocation.

Description of drawings

In order to illustrate the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;

FIG. 2 is a schematic flowchart of a method for charging and distributing a robot according to an embodiment of the present disclosure;

FIG. 3 is a schematic state diagram of a charging position provided by an embodiment of the present disclosure;

FIG. 4 is a schematic flowchart of another method for charging and distributing a robot according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of another application scenario provided by an embodiment of the present disclosure;

6 is a schematic flowchart of allocating charging positions to a plurality of robots in a method for allocating charging for a robot according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a robot charging distribution device according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of a control device according to an embodiment of the present disclosure.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some, but not all, embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure. As shown in Figure 1, in the storage system, multiple robots and multiple charging positions can be set. Wherein, the plurality of charging positions may include charging piles and/or wireless charging areas. The charging pile charges the robot in a wired manner, and the wireless charging area can wirelessly charge the robot.

Each charging bay can hold one robot for charging. The position and size of the charging position can be set according to actual needs. Multiple charging positions can be placed next to each other or scattered. The total number of charging positions may be greater than, equal to or less than the number of all robots.

Both the robot and the charging station can communicate with the control device, and the control device can be any device that can schedule the robot, such as a server and a terminal device.

In order to solve the problem that the efficiency of the robot to be recharged is low, the embodiment of the present disclosure can acquire information such as the power level and location of the robot to be charged, and the status of multiple charging positions such as idle, reserved, occupied, etc. Allocating charging positions for robots realizes the scheduling of charging of robots without binding robots and charging positions one by one, which improves the flexibility and efficiency of charging and improves the overall operation effect.

Some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments may be combined with each other without conflict between the embodiments.

FIG. 2 is a schematic flowchart of a method for charging and distributing a robot according to an embodiment of the present disclosure. The execution subject of the method in this embodiment may be a control device. As shown in FIG. 2 , the charging distribution method for the robot in this embodiment may include:

Step 201: Obtain status information of the robot to be charged and status information of multiple charging positions; wherein the status information of the robot to be charged includes power information and/or position information of the robot, and the status of the charging positions The information includes any one of idle, reserved and occupied.

In the status information of the robot, the power information may refer to the current remaining power information of the robot, and the location information may refer to the current position of the robot. The robot to be charged mentioned in this step can be determined in various ways.

In one example, the control device may acquire a charging request sent by the robot when its own power level information is lower than a first power level threshold, and determine that the robot sending the charging request is the robot to be charged.

Specifically, the first power threshold can be set according to actual needs, for example, it can be 20%. When the power information is lower than 20%, the robot can actively initiate a charging request to the control device, and the control device sets the robot to standby. This method can quickly determine the robot to be charged, and the efficiency is high.

In another example, the control device may acquire power information of all robots in the warehouse, and determine the robot to be charged according to the power information of all robots and a preset charging timing strategy.

Specifically, the control device can monitor all the robots in the storage system, and determine the robots to be charged according to the preset charging timing strategy. In this case, it is not necessary to wait until the power information of a certain robot is lower than a certain threshold before instructing it to charge.

A simple example is that there are currently 10 robots and 5 charging positions. The power of the 10 robots is about 50%, and none of them have reached the level that they must be charged. However, after a period of time, the power of the 10 robots will be It may drop to a certain level successively, resulting in insufficient charging positions. Therefore, some of the robots can be charged first to avoid the situation of tight charging positions after a period of time. In this way, some robots can be reasonably arranged to go back to charge in advance, providing greater overall production capacity.

In this step, the plurality of charging positions may only include charging piles, may only include wireless charging areas, or may include both charging piles and wireless charging areas. The charging bit can have three states: idle, reserved, and occupied. FIG. 3 is a schematic state diagram of a charging position according to an embodiment of the present disclosure. As shown in FIG. 3 , the charging position being reserved may refer to: the charging position has been reserved by a robot (for example, it has been assigned to a robot), but the robot is still on its way to charge; the charging position being occupied may refer to : The charging position is currently occupied by a robot, and the robot is charging the charging position; the charging position being idle may mean that the charging position is neither reserved nor occupied.

The state information of the charge bit can be determined in a number of ways. For the occupied state, the robot can report the charging state after starting to charge, so that the control device can determine that the corresponding charging position is in the occupied state; After that, the charging status can be reported to the control device; or, the control device can also determine whether the charging position is in an occupied state according to whether the current positions of the robot and the charging position are coincident.

For the reserved state, if a robot has been allocated to a certain charging slot, but the robot has not arrived yet, and the charging slot is currently in an unoccupied state, it can be determined that the charging slot is in the reserved state. If a certain charging position is neither occupied nor reserved, it can be considered to be in an idle state.

Step 202: Allocate a charging position to the robot according to the state information of the robot to be charged and the state information of the plurality of charging positions.

After the state information of the robot to be charged and the state information of the plurality of charging positions are acquired, charging positions may be allocated to the robot according to the acquired information. The specific control strategy is not limited in this embodiment.

Optionally, it may be determined first whether there is an idle charging position in the plurality of charging positions. If there is an idle charging position in the plurality of charging positions, according to the position information of the robot, the charging position closest to the robot is allocated to the robot.

If there is no free charging position among the plurality of charging positions, it may be considered to select a robot from the robots that have reserved or occupy the charging position to replace the robot to be charged. Specifically, among the robots that have reserved or occupied a charging position, a robot that meets a preset condition can be searched for and replaced with the robot to be charged.

For example, when a charging slot has been reserved, if the power information of the robot that reserves the charging position is higher than the power information of the robot to be charged, the robot to be charged is used to replace the previously reserved robot, and the A charging position is assigned to the robot to be charged.

For another example, in the case that the charging position is already occupied, the conditions required for the replacement may be more severe, so as to reduce the replacement cost as much as possible. Only if the difference between the power information of the robot occupying the charging position and the power information of the robot to be charged is greater than a certain value, the robot to be charged can be replaced by the robot that has occupied the charging position.

In the embodiment of the present disclosure, when allocating charging positions to the robot according to the status information of the charging positions, the status information may include not only idle and occupied, but also reserved, so that the reserved charging positions are compared with the idle and occupied charging positions. It can be used to separate the charging positions to improve the accuracy of allocating charging positions to the robot.

Step 203 , instructing the robot to charge at the assigned charging position.

After the charging position is allocated to the robot, a charging instruction may be sent to the robot, and the charging instruction may include identification or location information of the charging position allocated to the robot, so that the robot can go to the robot according to the charging instruction The assigned charging position is charged.

In practical applications, multiple robots and multiple charging positions can be set in the storage system, and the method described in this embodiment can be used to realize the charging distribution of the robots. Since the charging position can be allocated to the robot in real time according to the state information of the robot to be charged and the plurality of charging positions, the charging position and the robot do not have to be in a one-to-one binding state. The robot does not have to go back to the same fixed charging position for charging every time, but can select an appropriate charging position for charging according to the current actual situation, which effectively improves the overall operation efficiency of the robot.

In addition, since the charging positions and robots do not have to be bound one-to-one, the number of charging positions can be less than the number of robots, which can effectively reduce material costs and implementation costs, and can also reduce the occupation of the available area of the warehouse and improve the practicality of robots. The available dispatching site, thereby improving dispatching efficiency and further improving the overall efficiency of the system.

In the robot charging distribution method provided in this embodiment, the state information of the robot to be charged and the state information of a plurality of charging positions are obtained, wherein the state information of the robot to be charged includes the power information and/or the position of the robot information, the status information of the charging position includes any one of idle, reserved and occupied, according to the status information of the robot to be charged and the status information of the plurality of charging positions, allocating charging for the robot position, and instruct the robot to charge the assigned charging position, which can allocate the appropriate charging position to the robot currently to be charged according to the status of multiple charging positions, thereby reducing the time for the robot to charge and improving the overall operation of the robot. Efficiency is conducive to saving costs and improving the scheduling efficiency of robots, and setting the reserved state can also further improve the accuracy of allocation.

FIG. 4 is a schematic flowchart of another method for charging and distributing a robot according to an embodiment of the present disclosure. As shown in Figure 4, the method includes:

Step 401: Obtain status information of the robot to be charged and status information of multiple charging positions; wherein, the status information of the robot to be charged includes power information and/or position information of the robot, and the status of the charging positions The information includes any one of idle, reserved and occupied.

In this embodiment, reference may be made to the foregoing embodiment for the specific implementation manner of step 401, and details are not described herein again.

Step 402: For each charging position, calculate the estimated cost of allocating the charging position to the robot according to the state information of the robot to be charged and the state information of the charging position.

Wherein, for any charging position, the estimated cost reflects the cost required for the robot to go to the charging position for charging. When the charging position is in an idle state, the estimated cost is relatively small, and when the charging position is in a reserved or occupied state, the estimated cost is relatively large.

Specifically, according to the state information of the robot to be charged and the state information of the charging position, the distance cost, occupation cost and charging replacement cost of allocating the charging position to the robot can be calculated, and according to the distance A weighted sum of cost, occupancy cost, and charge replacement cost determines the estimated cost of allocating the charge slot to the robot.

Among them, the cost of distance can reflect the cost of moving the robot to the charging position, the cost of occupancy can reflect the cost of moving a robot away from the occupied charging position, and the cost of charging replacement can reflect the replacement of the robot that has been reserved or occupied by the robot to be charged. The benefit in terms of electricity brought by the robot in the charging position.

Through the distance cost, occupancy cost and charging replacement cost described above, the distance, occupancy status, power difference, etc. can be considered when calculating the estimated cost corresponding to each charging position, so as to fully realize the estimation of the charging position The cost analysis ensures the benefit of allocating charging positions to the robot.

Optionally, calculating the distance cost, occupancy cost and charging replacement cost for allocating the charging position to the robot may be implemented in the following manner.

The distance cost is calculated based on the distance between the charging position and the robot. Wherein, the distance between the charging position and the robot and the distance cost may be positively correlated. The longer the distance, the more time and energy it takes for the robot to go to the charging position, so the distance cost can be larger, and vice versa.

The occupancy cost is calculated according to whether the charging position is in an occupied state. Wherein, the occupancy cost corresponding to the charging position when it is occupied is greater than the occupancy cost corresponding to the reserved or idle time. After a charging slot is occupied, if the charging slot is allocated to other robots, the cost of squeezing out the original robot will be relatively large, and when the charging slot is not occupied, for example, it is reserved or idle, then the The cost of allocating charging slots to other robots will be relatively small. Therefore, the occupation cost corresponding to the occupied state may be greater than the occupation cost corresponding to the reserved or idle state.

The occupation cost corresponding to the reserved state and the occupation cost corresponding to the idle state may be the same or different. Optionally, the occupancy cost corresponding to the reserved state can be greater than the occupancy cost corresponding to the idle state, because the robot is already on its way, and it also costs a certain amount to let the robot give up the reserved charging position at this time.

Further, the occupancy cost can also be determined according to the distance between the robot that reserved the charging position and the charging position. The closer the distance is, the more the robot is about to reach the reserved charging position. Greater cost is required. In the case of other information being the same, the closer the robot to be replaced is to the charging position, the higher the cost of replacing it. Therefore, determining the occupancy cost of the charging position according to the distance between the reserved robot and the charging position can be used for a long time. The charging slots that are occupied later are allocated to the robots to be charged prior to the charging slots that are occupied immediately, reducing the overall energy consumption of all robots.

According to the power information of the robot to be charged and the power information of the robot reserved or occupying the charging position, the charging replacement cost is calculated. Wherein, the difference between the power information of the robot that reserves or occupies the charging position and the robot to be charged may be negatively correlated with the charging replacement cost, because a high power difference will bring greater power 's earnings. The charging replacement cost corresponding to the idle charging bit may be 0.

In the embodiment of the present disclosure, the positive correlation refers to that when the variable x increases, the variable y also increases, that is, the two variables change in the same direction, and one variable x changes from large to small/from small to large When , another variable y also changes from large to small/from small to large, then variable x and variable y can be considered to be positively correlated. Negative correlation means that when the variable x increases, the variable y decreases, that is, the two variables change in opposite directions. When one variable x changes from large to small/from small to large, the other variable y is changed by From small to large/from large to small, then the variable x and the variable y can be considered to be negatively correlated.

The specific implementation strategy for calculating the above cost can be set according to actual needs. The embodiment of the present disclosure provides a calculation example, and the estimated cost can be calculated by the following formula.

C _XA =D _XA +O _X *CO+R _X *(1-(BC _B -BC _A ))*CBC (1)

Among them, A represents the robot to be charged, and X represents the charging position under consideration. C _XA is the estimated cost assuming that the robot A to be charged is assigned to the charging position X. D _XA represents the distance cost, which is determined by the distance between robot A and charging position X.

O _X is a binary variable, representing the occupancy cost, a value of 1 indicates that the charging position has been occupied by a certain robot B, and a value of 0 indicates that it is idle or only reserved. The coefficient CO represents the cost that the robot needs to leave and enter the charging position, that is, the weight of the occupancy cost. If multiple charging positions are occupied, their corresponding occupancy costs, namely O _X *CO, are exactly the same.

R _X is a binary variable, with a value of 1 indicating that the charging position has been reserved or occupied by robot B, and a value of 0 indicating idle. BC _B and BC _A represent the power information of robots A and B, respectively. R _X *(1-(BC _B -BC _A )) may represent the charge replacement cost. The coefficient CBC represents the weight of the charging replacement cost.

Generally speaking, if the battery information of robot A is lower than the battery information of robot B, then the charging position assigned to A is better than assigned to B. 1 minus the difference between the power information of the two and multiplied by the weight coefficient, which means that a high power difference will bring a large benefit (ie, a small cost), and a small power difference will bring a high penalty (ie, a large cost). .

From the analysis of the above formula, it can be seen that the calculation result will give priority to the nearest free charging position, because this kind of charging position has no second and third costs at all, so the nearest free charging position is the estimated cost of the least. .

If all charging positions are not free, then for all reserved charging positions or all occupied charging positions (the occupancy cost of all reserved charging positions is the same as 0, and all occupied charging positions The occupancy cost is the same as 1), and the calculation result will tend to select the charging position with higher power information of the currently reserved/occupied robot, because the charging replacement cost of this kind of charging position is the smallest.

If the power information of the currently reserved/occupied robots is the same, that is, the charging replacement cost is the same, then the calculation result will tend to select the reserved charging position instead of the occupied charging position, because the reserved charging position has a smaller occupancy. cost.

Through the formula provided above, the idle, reserved and occupied states of the charging position can be distinguished, and the estimated cost corresponding to the charging position can be comprehensively determined by combining the power information and position information of the robot to meet the charging allocation in different situations. requirements, and the calculation process is simple, which effectively saves computing resources and improves the processing efficiency of the system.

Step 403: Determine the charging position allocated to the robot according to the estimated cost corresponding to each charging position.

Optionally, from all the charging positions, the charging position with the lowest estimated cost may be selected and allocated to the robot, thereby effectively reducing the cost.

In addition, it is possible to set some additional conditions that need to be met for the assignment to complete. Optionally, determining the charging position allocated to the robot according to the estimated cost corresponding to each charging position may include: selecting a charging position with the lowest estimated cost to allocate to the robot among the charging positions satisfying the allocation conditions.

Wherein, the allocation condition may include: the charging position is in an idle state; or, the charging position is in a reserved or occupied state, and the power information of the robot that reserves or occupies the charging position is the same as that of the to-be-reserved robot. The difference between the power information of the charging robots is greater than the second power threshold, and the power information of the robots that reserve or occupy the charging position is higher than the third power threshold.

The second power threshold and the third power threshold may be, for example, 10% and 50%. The difference between the power information of the robot currently requesting charging and the robot currently reserving or occupying a charging position is sufficiently obvious, and the power information of the replaced robot has reached a certain level before replacement can occur. The robot that is not expected to be replaced is also a low-battery robot that needs to be recharged urgently. Therefore, setting allocation conditions can avoid meaningless replacement and ensure the effective operation of the system.

Step 404 , instructing the robot to go to the allocated charging position for charging.

In this embodiment, steps 402 to 403 can be used to allocate charging positions to the robot according to the status information of the robot to be charged and the status information of the plurality of charging positions. After the charging position is determined, the robot can be instructed to go to the allocated charging position for charging.

In the robot charging allocation method provided in this embodiment, among the multiple candidate charging positions, for each charging position, according to the state information of the robot to be charged and the status information of the charging position, the charging position is determined by targeting multiple optional charging positions. For each charging position in the charging position, calculate the estimated cost of allocating it to the robot for charging, and select the one with the smallest estimated cost among the multiple charging positions to assign to the robot, so that each charging position can be accurately and comprehensively allocated. Analysis is performed to select the optimal solution from multiple charging positions, which effectively reduces the cost of the robot going to charging.

FIG. 5 is a schematic diagram of another application scenario provided by an embodiment of the present disclosure. As shown in FIG. 5 , based on the application scenario shown in FIG. 1 , a rest area can be further set, so as to allocate a rest area for the robots.

The rest area can be an area on the system map. The difference from the charging position is that the robot can only rest in this area and cannot be charged. One or more rest areas can be set in the system, and each rest area can accommodate a robot for rest.

Optionally, if the charging position allocated to the robot to be charged is a reserved or occupied charging position, you can search for an idle rest area closest to the robot to be replaced, and use the found rest area. A zone is assigned to the displaced robot.

The replaced robot may refer to the robot that originally reserved or occupied the charging position. The replaced robot can be notified to go to the rest area to rest immediately after the charging position is assigned to a new robot, or the replaced robot can be notified after a certain period of time when the new robot arrives at the charging position. of robots go to the rest area to rest, thereby maximizing the use of charging space resources.

Optionally, when allocating a charging position to a robot to be charged, if there is no charging position that satisfies the allocation conditions, that is, there is no free charging position, and the power information of the reserved and occupied charging position robot does not meet the above requirements. condition, the robot to be charged cannot be assigned to a charging position, then an idle rest area closest to the robot can be assigned to the robot to be charged. The rest area is used by multiple robots in a shared way, which can effectively reduce the occupation of the venue and save costs.

In practical applications, due to the large number of robots in the system, it may be necessary to allocate charging positions to multiple robots at the same time. The embodiments of the present disclosure also provide a general method for charging and distributing a robot, which can perform charging distribution for one or more robots, which not only includes assigning a suitable charging position or rest area to the robot that needs to be charged, but also includes assigning a suitable charging position or rest area to the robot that needs to be charged. After the idle robot is allocated a suitable charging position or rest area. That is, this method can be called whenever a robot wants to recharge or go home to rest.

Suppose the system has N robots, M charging positions and K rest areas, where N, M, and K are all positive integers, and generally N=M+K, and N>M+K is also supported. How to reasonably manage these N robots to share M charging positions and K rest areas, to ensure the normal operation of all robots and to maximize the robot working capacity of the system is the goal of the robot charging distribution method.

The robot charging allocation method is executed by the control device. The information input to the control device can include: all charging positions and the position information of the rest area, which are generally static and can be passed in at one time during initialization; all charging positions that need to be allocated or The information of the robot in the rest area, such as robot ID, current battery information, and location information, etc.; the status information of all current charging positions, such as idle, reserved or occupied, if reserved or occupied, give the robot that reserved or occupied it information such as robot ID, current battery information and location information; current status information of all rest areas such as idle or occupied.

After the control device executes the robot charging allocation method, the output information may include: giving the charging position or rest area allocated by each requested robot; if the allocated charging position has been reserved or occupied by the robot, then giving the replaced charging position Which rest area the robot should switch to or indicate that it is homeless.

FIG. 6 is a schematic flowchart of allocating charging positions to a plurality of robots in a method for allocating charging for a robot according to an embodiment of the present disclosure. As shown in FIG. 6 , when there are multiple robots to be charged, according to the status information of the robots to be charged and the status information of the multiple charging positions, allocating charging positions to the robots may include:

Step 601 , establishing a list of charging positions and a list of free rest areas; wherein the list of charging positions includes the plurality of charging positions, and the list of free rest areas includes at least one free rest area.

Optionally, the charging position list may include all charging positions in the system, regardless of whether the charging positions are idle, reserved, or occupied, they are all included in the charging position list. The list of free rest areas can include only free rest areas and not non-vacant rest areas.

Step 602: Sort all the robots to be charged according to the power information from low to high to obtain a robot priority list.

Among them, the robot to be charged may include a robot whose power is too low and needs to be charged immediately, or a robot that needs to go back to rest after completing the task when it needs to go home. Robots that need to go home can also be assigned to charging positions for charging and rest, so they are collectively referred to as robots to be charged.

All robots to be charged are sorted in ascending order of power information. The lower the power information, the higher the priority.

Step 603: According to the charging position list, the idle rest area list, the status information of the robot in the robot priority list, and the status information of the plurality of charging positions, determine the robot in the robot priority list. Allocate charging spots or rest areas.

Specifically, charging positions or rest areas can be allocated to each robot in sequence according to the priority.

Optionally, the following steps may be repeated until the robot priority list is empty or the robot cannot be assigned to a charging bay or a rest area: select the robot ranked first from the robot priority list, status information and status information of each charging position in the charging position list, and assign a charging position to the robot; if the robot is assigned to a charging position, delete the robot from the robot priority list, and assign the robot to a charging position. The charging position allocated to the robot is deleted from the charging position list; if the robot is not allocated a charging position, the idle rest area closest to the robot is selected from the idle rest area list and assigned to the robot , and delete the robot from the robot priority list, and delete the rest area allocated to the robot from the idle rest area list.

Specifically, when allocating charging positions to the robot according to the status information of the robot and the status information of each charging position in the charging position list, reference may be made to the solutions provided in the foregoing embodiments. For example, the formula (1) Calculate the estimated cost corresponding to each charging position, and determine the charging position allocated to the robot according to the estimated cost.

If a robot in the list is assigned to a charging position, delete the assigned charging position from the charging position list, because the power information of the robot to be allocated later is higher than that of the currently requested robot, and it is impossible to replace it again. Drop this allocation result.

If a robot in the list cannot be assigned a charging position, then assign it to the nearest idle rest area, let the robot wait temporarily in the rest area, and then continue to request charging at an appropriate time. Similarly, when the robot is assigned to a rest area, delete the assigned rest area from the list of free rest areas.

After processing a robot, whether it is assigned to a charging position or a rest area, delete the robot from the robot priority list, and then continue to search for the robot ranked first in the current robot priority list and do the same. processing.

In practical applications, the number of charging spots and rest areas can be limited to minimize the occupation of the venue. Therefore, there may be cases where the robot cannot be assigned a charging slot, nor a rest area.

If a robot cannot be assigned either a charging slot or a rest area, then the robot can be placed in the list of homeless robots. The other robots behind this robot do not need to perform the allocation steps, because the previous robots cannot be allocated, and the other robots behind cannot be allocated. Therefore, all the other robots in the back can be directly put into the A list of home-retrievable robots. After a period of time, the robots in the homeless robot list can continue to try to assign charging spots or rest areas.

The method for allocating charging positions to a robot provided by this embodiment can establish a charging position list, a list of idle rest areas, and a list of robot priorities, and according to the priority of the robot, through the list of charging positions and the list of idle rest areas, Allocating charging positions or rest areas for each robot can effectively improve the efficiency of allocation and ensure that robots with low power are given priority to be charged.

Based on the technical solutions provided by the above embodiments, optionally, if there is no charging space or rest area that can be allocated to the robot, a temporary docking point is allocated for the robot; wherein the temporary docking point is Any location in the warehouse except the charging area, rest area and warehouse entry and exit points.

Specifically, if any robot can neither be assigned a charging position nor a rest area, then a reasonable temporary stop can be found for the robot to temporarily stop the robot. Reasonable temporary stops should be selected so as not to affect the work of other robots as much as possible. Temporary stops can theoretically be anywhere in the warehouse, but need to avoid occupied areas and areas where robots or users must pass. Dock.

In the actual storage system, the location and number of charging positions and rest areas can be set as needed. In an optional implementation, the number of charging positions plus rest areas may equal the number of robots. In this case, a charging slot or rest area can definitely be allocated when the robot requests charging. Because the rest area does not need to prepare physical equipment, it only needs to be configured with the software system, so the configuration of the rest area will not increase any cost (including material cost, implementation cost, maintenance cost, etc.) Positioned robots provide a safe and reliable resting place.

In another optional implementation, the number of charging positions plus rest areas may be less than the number of robots. The difference from the previous implementation is that in this case, the robot may not be assigned to a charging bay or a rest area, but will be assigned a temporary stop, the location of which may not be the same every time. In the same way, it can be determined according to the status of other robots in the system at that time.

On the basis of the technical solutions provided by the above embodiments, optionally, when an emergency task is obtained, a currently idle robot can be searched, and if there is no idle robot, the charging robot is scheduled to perform the emergency operation. homework tasks.

Wherein, the urgent work task may refer to a work task whose deadline is less than a certain time threshold from the current time, or may be a work task that has been marked as urgent by a user. The operation task may be any task that requires a robot to perform operations, such as a warehouse-in task, a warehouse-out task, and a warehouse-arranging task. When the control device receives an emergency task, it can first search for robots that are in an idle state, where the idle robots may refer to robots that are neither performing tasks nor charging, and the idle robots are given priority to perform all tasks. Describe emergency tasks.

If there is currently no idle robot, the robot that is charging but not fully charged can be scheduled to perform the emergency task, so that the charging robot can be included in the consideration of the assignment of the emergency task, and the processing efficiency of the emergency task can be improved.

Further, when scheduling a charging robot to perform an emergency task, one or more robots with the largest current power information can be preferentially called to perform the task, so as to ensure that the emergency task can be completed to the greatest extent.

FIG. 7 is a schematic structural diagram of a robot charging distribution device according to an embodiment of the present disclosure. As shown in Figure 7, the apparatus may include:

An acquisition module 701 is used to acquire state information of the robot to be charged and state information of a plurality of charging positions; wherein the state information of the robot to be charged includes power information and/or position information of the robot, and the charging The status information of the bit includes any one of idle, reserved and occupied;

an allocation module 702, configured to allocate a charging position to the robot according to the state information of the robot to be charged and the state information of the plurality of charging positions;

The instructing module 703 is used to instruct the robot to go to the allocated charging position for charging.

In an optional implementation manner, the obtaining module 701 is further configured to:

In an optional implementation manner, the allocation module 702 is specifically configured to:

In an optional implementation manner, when the allocation module 702 calculates the estimated cost of allocating the charging position to the robot according to the status information of the robot to be charged and the status information of the charging position , specifically for:

In an optional implementation manner, the allocating module 702 calculates the distance cost, occupancy, and cost of allocating the charging position to the robot according to the state information of the robot to be charged and the state information of the charging position. cost and charging replacement cost, specifically for:

In an optional embodiment, when determining the charging position allocated to the robot according to the estimated cost corresponding to each charging position, the allocation module 702 is specifically used for:

In an optional embodiment, the allocation module 702 is further configured to:

If there is no charging position that meets the allocation condition, the robot is allocated an idle rest area that is closest to the robot to be charged.

In an optional implementation manner, when there are multiple robots to be charged, the distribution module 702 is specifically used for:

In an optional implementation manner, the allocating module 702 is based on the state information of the robot in the charging position list, the idle rest area list, the robot priority list, and the states of the plurality of charging positions. information, when allocating charging slots or rest areas to robots in the robot priority list, specifically for:

In an optional embodiment, the allocation module 702 is further configured to:

In an optional implementation manner, the indicating module 703 is further configured to:

When an urgent job task is obtained, find the currently idle robot;

The apparatus provided in this embodiment can be used to implement the technical solutions of the method embodiments shown in FIG. 1 to FIG. 6 , and the implementation principles and technical effects thereof are similar, and are not described again in this embodiment.

FIG. 8 is a schematic structural diagram of a control device according to an embodiment of the present disclosure. As shown in FIG. 8 , the control device in this embodiment may include:

at least one processor 801; and

a memory 802 in communication with the at least one processor;

Wherein, the memory 802 stores instructions that can be executed by the at least one processor 801, and the instructions are executed by the at least one processor 801, so that the control device executes the method described in any of the foregoing embodiments. method.

Optionally, the memory 802 may be independent or integrated with the processor 801 .

For the implementation principle and technical effect of the control device provided in this embodiment, reference may be made to the foregoing embodiments, and details are not described herein again.

An embodiment of the present disclosure further provides a storage system, including the control device described in any of the foregoing embodiments and a robot; the robot is configured to move to an assigned charging position for charging according to an instruction of the control device.

In the storage system provided by the embodiment of the present disclosure, the specific working principle, process and beneficial effects of the control device and the robot can be referred to the foregoing embodiments, which will not be repeated here.

Embodiments of the present disclosure further provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the method described in any of the foregoing embodiments is implemented. .

Embodiments of the present disclosure also provide a computer program product, including a computer program, which implements the method described in any of the foregoing embodiments when the computer program is executed.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

In addition, each functional module in each embodiment of the present disclosure may be integrated in one processing unit, or each module may exist physically alone, or two or more modules may be integrated in one unit. The units formed by the above modules can be implemented in the form of hardware, or can be implemented in the form of hardware plus software functional units.

The above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer-readable storage medium. The above-mentioned software function modules are stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the methods described in various embodiments of the present disclosure.

It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuit (Application Specific Integrated Circuit, Referred to as ASIC) and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the invention can be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

The memory may include high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one magnetic disk memory, and may also be a U disk, a removable hard disk, a read-only memory, a magnetic disk or an optical disk, and the like.

The bus can be an Industry Standard Architecture (ISA for short) bus, a Peripheral Component Interconnect (PCI for short) bus, or an Extended Industry Standard Architecture (EISA for short) bus, or the like. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.

The above-mentioned storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. A storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor, such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short). Of course, the processor and the storage medium may also exist in the electronic device or the host device as discrete components.

Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments may be completed by program instructions related to hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present disclosure. Scope.

Claims

A method for charging and distributing a robot, comprising:

Obtain status information of the robot to be charged and status information of multiple charging positions; wherein, the status information of the robot to be charged includes power information and/or position information of the robot, and the status information of the charging position includes idle , either reserved or occupied;

assigning a charging position to the robot according to the state information of the robot to be charged and the state information of the plurality of charging positions;

The robot is instructed to go to the assigned charging slot for charging.
The method of claim 1, further comprising:

Acquire a charging request sent by the robot when its own power information is lower than a first power threshold, and determine that the robot sending the charging request is the robot to be charged; and/or,

Obtain power information of all robots in the warehouse, and determine the robot to be charged according to the power information of all robots and a preset charging timing strategy.
The method according to claim 1 or 2, wherein, according to the status information of the robot to be charged and the status information of the plurality of charging positions, allocating the charging position to the robot comprises:

If there is an idle charging position in the plurality of charging positions, assigning the charging position closest to the robot to the robot;

If there is no free charging position among the plurality of charging positions, among the robots that have reserved or occupied the charging position, search for a robot that meets the preset conditions, and replace the robot with the robot to be charged.
The method according to claim 1 or 2, wherein, according to the status information of the robot to be charged and the status information of the plurality of charging positions, allocating the charging position to the robot comprises:

For each charging position, calculating the estimated cost of allocating the charging position to the robot according to the status information of the robot to be charged and the status information of the charging position;

The charging position allocated to the robot is determined according to the estimated cost corresponding to each charging position.
The method according to claim 4, wherein calculating the estimated cost of allocating the charging position to the robot according to the state information of the robot to be charged and the state information of the charging position, comprising:

According to the state information of the robot to be charged and the state information of the charging position, calculate the distance cost, occupation cost and charging replacement cost of allocating the charging position to the robot;

An estimated cost of allocating the charging slot to the robot is determined based on the weighted sum of the distance cost, occupancy cost, and charging replacement cost.
The method according to claim 5, wherein, according to the state information of the robot to be charged and the state information of the charging position, the distance cost, the occupation cost and the cost of allocating the charging position to the robot are calculated. Charge replacement costs, including:

Calculate the distance cost according to the distance between the charging position and the robot; wherein, the distance between the charging position and the robot is positively correlated with the distance cost;

Calculate the occupancy cost according to whether the charging position is in an occupied state; wherein, the corresponding occupancy cost when the charging position is occupied is greater than the corresponding occupancy cost when the charging position is reserved or idle;

According to the power information of the robot to be charged and the power information of the robot reserved or occupying the charging position, the charging replacement cost is calculated; wherein the relationship between the robot reserved or occupying the charging position and the robot to be charged is calculated. The difference between the power information and the charging replacement cost is negatively correlated.
The method according to any one of claims 4-6, wherein determining the charging position allocated to the robot according to the estimated cost corresponding to each charging position, comprising:

Among the charging positions that meet the allocation conditions, select the charging position with the lowest estimated cost to allocate to the robot;

The allocation conditions include: the charging position is in an idle state; or, the charging position is reserved or occupied, and the power information of the robot that reserves or occupies the charging position is the same as that of the to-be-charged robot. The difference between the power information of the robots is greater than the second power threshold, and the power information of the robot that reserves or occupies the charging position is higher than the third power threshold.
The method of claim 7, further comprising:

If the charging position allocated to the robot to be charged is a reserved or occupied charging position, search for a free rest area closest to the robot to be replaced, and assign the found rest area to the Replaced robot.
The method of claim 7, further comprising:

If there is no charging position that meets the allocation condition, the robot is allocated an idle rest area that is closest to the robot to be charged.
The method according to claim 1, wherein when there are multiple robots to be charged, according to the state information of the robots to be charged and the state information of the multiple charging positions, the robot is Allocate charging slots, including:

establishing a list of charging positions and a list of idle rest areas; wherein, the list of charging positions includes the plurality of charging positions, and the list of idle rest areas includes at least one idle rest area;

Sort all the robots to be charged according to the power information from low to high to get the robot priority list;

Allocating charging slots to the robots in the robot priority list according to the charging slot list, the idle rest area list, the status information of the robots in the robot priority list, and the status information of the plurality of charging slots or rest area.
The method according to claim 10, wherein, according to the charging position list, the idle rest area list, the status information of the robot in the robot priority list, and the status information of the plurality of charging positions, Allocate charging bays or rest areas to robots in the robot priority list, including:

Repeat the following steps until the robot priority list is empty or the robot cannot be assigned to a charging bay or rest area:

Selecting the robot with the first ranking from the robot priority list, and assigning a charging position to the robot according to the status information of the robot and the status information of each charging position in the charging position list;

If the robot is allocated to a charging position, delete the robot from the robot priority list, and delete the charging position allocated to the robot from the charging position list;

If the robot is not assigned to a charging position, select the idle rest area closest to the robot from the idle rest area list and assign it to the robot, delete the robot from the robot priority list, and place the The rest area assigned to the robot is deleted from the list of free rest areas.
The method according to any one of claims 8-11, further comprising:

If there is no charging bay or rest area that can be assigned to the robot, assign the robot a temporary stop;

Wherein, the temporary stop point is any position in the warehouse except the charging area, the rest area and the warehouse entry and exit points.
The method according to any one of claims 1-12, further comprising:

When an urgent job task is obtained, find the currently idle robot;

If there is no idle robot, the charging robot is scheduled to execute the emergency work task.
A robot charging and distributing device, comprising:

an acquisition module, configured to acquire state information of the robot to be charged and state information of a plurality of charging positions; wherein, the status information of the robot to be charged includes power information and/or position information of the robot, and the charging position The status information includes any one of idle, reserved and occupied;

an allocation module, configured to allocate a charging position to the robot according to the state information of the robot to be charged and the state information of the plurality of charging positions;

The instructing module is used to instruct the robot to go to the assigned charging position for charging.
A control device, characterized in that it includes:

at least one processor; and

a memory communicatively coupled to the at least one processor;

Wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to cause the control device to execute the control device according to any one of claims 1-13. method.
A storage system, comprising: the control device and the robot according to claim 15;

The robot is used for moving to the assigned charging position for charging according to the instruction of the control device.
A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the computer-executable instructions according to any one of claims 1-13 are implemented. method.
A computer program product, characterized in that it comprises a computer program, which implements the method according to any one of claims 1-13 when the computer program is executed.